[ROS2 Humble, Gazebo, ROS2 Control]: Can't activate controller. Command interface with does not exist

edit

We recently migrated to Humble and started noticing that our gazebo classic sim has started throwing this error:

[gzserver-1] [ERROR] [1658521442.995648735] [controller_manager]: Can't activate controller 'steering_front_right': Command interface with 'steering_front_right_joint/position' does not exist

I'm posting snippets from various files to build context. (Can add more if needed.)

A load_controllers.launch.py has the following piece:

load_front_right_steering_controller = ExecuteProcess(
    cmd=[
        "ros2",
        "control",
        "load_controller",
        "--set-state",
        "configured",
        "steering_front_right",
    ],
    output="screen",
)

A gazebo_controllers.yaml file has the controller config:

controller_manager:
  ros__parameters:
    update_rate: 100

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    steering_front_right:
      type: position_controllers/JointGroupPositionController

Some debugging steps with ROS2 Control CLI:

1. Checking HW interfaces:

ros2 control list_hardware_interfaces

command interfaces
  steering_front_right_joint/position [unavailable] [unclaimed]

on running ros2 control list_hardware_interfaces, all simulated HW interfaces show up as [unclaimed] and [unavailable].

1. Checking controllers :

ros2 control list_controllers

joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] inactive  
steering_front_right[position_controllers/JointGroupPositionController] inactive

All controllers show up as inactive even though while launching the gazebo sim, I see this message (it loads successfully) [ros2-8] Sucessfully loaded controller steering_front_right into state active

1. Manually setting controller_state: ros2 control set_controller_state <controller-name> active.

This throws the error: [gzserver-1] [ERROR] [1658521442.995648735] [controller_manager]: Can't activate controller 'steering_front_right': Command interface with 'steering_front_right_joint/position' does not exist

I've checked and double checked URDF files, ros2_control tags in the xacro files and the config files too. This same config works in Galactic (with ros2 control load_controller --set_state syntax changed to 'start').

Anyone else seeing this? Any help with this?